private void SetHandTeachingButtonInteractivity()
{
ActionObject ao = SceneManager.Instance.GetActionObject(SceneManager.Instance.SelectedRobot.GetId());
bool success = ActionsManager.Instance.RobotsMeta.TryGetValue(ao.ActionObjectMetadata.Type, out IO.Swagger.Model.RobotMeta robotMeta);
if (success)
{
HandTeachingModeButton.SetInteractivity(robotMeta.Features.HandTeaching, "Robot does not support hand teaching mode");
}
else
{
HandTeachingModeButton.SetInteractivity(true); //actually this should never happen
}
}
public async void HoldReleased()
{
if (!HandTeachingModeButton.IsInteractive())
{
return;
}
HandBtnRedBackground.SetActive(false);
try {
string armId = null;
if (SceneManager.Instance.SelectedRobot.MultiArm())
{
armId = SceneManager.Instance.SelectedArmId;
}
await WebsocketManager.Instance.HandTeachingMode(robotId : SceneManager.Instance.SelectedRobot.GetId(), enable : false, armId);
} catch (RequestFailedException ex) {
Notifications.Instance.ShowNotification("Failed to disable hand teaching mode", ex.Message);
}
}
